(TMZ) -- Robert Guillaume -- best known for his '80s hit TV show, "Benson" -- died Tuesday at his L.A. home ... according to his wife, Donna.
Guillaume won the Emmy for lead actor in a comedy for playing sarcastic, wise-cracking butler, Benson DuBois, on the hit ABC show. "Benson" was a spin-off from "Soap." He'd won a supporting actor Emmy for that show.
He was also the voice of Rafiki on Disney's "The Lion King" -- and Isaac Jaffe on Aaron Sorkin's "Sports Night."
Throughout his career, Guillaume defied racial stereotypes with his characters on TV and in theater. He earned a 1977 Tony nom for "Guys and Dolls" ... and was first African-American to play the title role in "Phantom of the Opera."
Robert was 89.
R.I.P.
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